﻿<?xml version="1.0" encoding="utf-8"?>
<ContactSensorArrayState xmlns:s="http://www.w3.org/2003/05/soap-envelope" xmlns:wsa="http://schemas.xmlsoap.org/ws/2004/08/addressing" xmlns:d="http://schemas.microsoft.com/xw/2004/10/dssp.html" xmlns="http://schemas.microsoft.com/2006/06/contactsensor.html">
  <Sensors>
    <ContactSensor>
      <Name>Front InfraRed Bumper</Name>
      <HardwareIdentifier>1</HardwareIdentifier>
      <TimeStamp>0001-01-01T00:00:00</TimeStamp>
      <Pressed>false</Pressed>
      <Pose>
        <Position xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">
          <X>0</X>
          <Y>0</Y>
          <Z>0</Z>
        </Position>
        <Orientation xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">
          <X>0</X>
          <Y>0</Y>
          <Z>0</Z>
          <W>0</W>
        </Orientation>
      </Pose>
    </ContactSensor>
    <ContactSensor>
      <Name>Front Right InfraRed Bumper</Name>
      <HardwareIdentifier>2</HardwareIdentifier>
      <TimeStamp>0001-01-01T00:00:00</TimeStamp>
      <Pressed>false</Pressed>
      <Pose>
        <Position xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">
          <X>0</X>
          <Y>0</Y>
          <Z>0</Z>
        </Position>
        <Orientation xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">
          <X>0</X>
          <Y>0</Y>
          <Z>0</Z>
          <W>0</W>
        </Orientation>
      </Pose>
    </ContactSensor>
    <ContactSensor>
      <Name>Front Left InfraRed Bumper</Name>
      <HardwareIdentifier>3</HardwareIdentifier>
      <TimeStamp>0001-01-01T00:00:00</TimeStamp>
      <Pressed>false</Pressed>
      <Pose>
        <Position xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">
          <X>0</X>
          <Y>0</Y>
          <Z>0</Z>
        </Position>
        <Orientation xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">
          <X>0</X>
          <Y>0</Y>
          <Z>0</Z>
          <W>0</W>
        </Orientation>
      </Pose>
    </ContactSensor>
    <ContactSensor>
      <Name>Right InfraRed Bumper</Name>
      <HardwareIdentifier>4</HardwareIdentifier>
      <TimeStamp>0001-01-01T00:00:00</TimeStamp>
      <Pressed>false</Pressed>
      <Pose>
        <Position xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">
          <X>0</X>
          <Y>0</Y>
          <Z>0</Z>
        </Position>
        <Orientation xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">
          <X>0</X>
          <Y>0</Y>
          <Z>0</Z>
          <W>0</W>
        </Orientation>
      </Pose>
    </ContactSensor>
    <ContactSensor>
      <Name>Left InfraRed Bumper</Name>
      <HardwareIdentifier>5</HardwareIdentifier>
      <TimeStamp>0001-01-01T00:00:00</TimeStamp>
      <Pressed>false</Pressed>
      <Pose>
        <Position xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">
          <X>0</X>
          <Y>0</Y>
          <Z>0</Z>
        </Position>
        <Orientation xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">
          <X>0</X>
          <Y>0</Y>
          <Z>0</Z>
          <W>0</W>
        </Orientation>
      </Pose>
    </ContactSensor>
    <ContactSensor>
      <Name>Rear InfraRed Bumper</Name>
      <HardwareIdentifier>6</HardwareIdentifier>
      <TimeStamp>0001-01-01T00:00:00</TimeStamp>
      <Pressed>false</Pressed>
      <Pose>
        <Position xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">
          <X>0</X>
          <Y>0</Y>
          <Z>0</Z>
        </Position>
        <Orientation xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">
          <X>0</X>
          <Y>0</Y>
          <Z>0</Z>
          <W>0</W>
        </Orientation>
      </Pose>
    </ContactSensor>
    <ContactSensor>
      <Name>Ground Right InfraRed Bumper</Name>
      <HardwareIdentifier>7</HardwareIdentifier>
      <TimeStamp>0001-01-01T00:00:00</TimeStamp>
      <Pressed>false</Pressed>
      <Pose>
        <Position xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">
          <X>0</X>
          <Y>0</Y>
          <Z>0</Z>
        </Position>
        <Orientation xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">
          <X>0</X>
          <Y>0</Y>
          <Z>0</Z>
          <W>0</W>
        </Orientation>
      </Pose>
    </ContactSensor>
    <ContactSensor>
      <Name>Ground Left InfraRed Bumper</Name>
      <HardwareIdentifier>8</HardwareIdentifier>
      <TimeStamp>0001-01-01T00:00:00</TimeStamp>
      <Pressed>false</Pressed>
      <Pose>
        <Position xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">
          <X>0</X>
          <Y>0</Y>
          <Z>0</Z>
        </Position>
        <Orientation xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">
          <X>0</X>
          <Y>0</Y>
          <Z>0</Z>
          <W>0</W>
        </Orientation>
      </Pose>
    </ContactSensor>
  </Sensors>
</ContactSensorArrayState>